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CONSOLIDATED STATEMENTS OF COMPREHENSIVE INCOME (LOSS) (PARENTHETICAL) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Statement of Comprehensive Income [Abstract]      
Amortization of net actuarial loss and prior service cost, taxes $ 0.8 $ 0.8 $ 0.8
Adjustments of net actuarial losses and prior service cost, taxes $ 7.9 $ 3.2 $ 3.8